Related papers: HGIC: A Hand Gesture Based Interactive Control Sys…
With the rapid development of augmented reality (AR) and virtual reality (VR) technology, human-computer interaction (HCI) has been greatly improved for gaming interaction of AR and VR control. The finger micro-gesture is one of the…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Multi-agent human-robot teaming allows for the potential to gather information about various environments more efficiently by exploiting and combining the strengths of humans and robots. In industries like defense, search and rescue,…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…
We argue that a key challenge in enabling usable and useful interactive task learning for intelligent agents is to facilitate effective Human-AI collaboration. We reflect on our past 5 years of efforts on designing, developing and studying…
Hypersonic glide vehicles (HGVs) operate in challenging flight regimes characterized by strong nonlinearities in actuation and stringent physical constraints. These include state-dependent actuator limitations, asymmetric control bounds,…
Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hindered by high costs, hardware dependencies, and complex…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
We present MUG, a novel interactive task for multimodal grounding where a user and an agent work collaboratively on an interface screen. Prior works modeled multimodal UI grounding in one round: the user gives a command and the agent…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
Recent advances in haptic hardware and software technology have generated interest in novel, multimodal interfaces based on the sense of touch. Such interfaces have the potential to revolutionize the way we think about human computer…
Human-computer interaction (HCI) has been a widely researched area for many years, with continuous advancements in technology leading to the development of new techniques that change the way we interact with computers. With the recent…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance both wheeled driving and legged control. Furthermore, due to…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…